From 5eab55679d2263520c8c1bc334c8f4e81a207c23 Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Thu, 5 Aug 2021 16:41:24 +0200
Subject: [PATCH] Add handling of void forEach() functors, update includes, add
tests
---
.../ArticulatedObjectLocalizerExample.cpp | 2 +-
.../ArticulatedObjectLocalizerExample.h | 2 +-
.../ExampleMemoryClient.cpp | 6 +-
.../ExampleMemoryClient/ExampleMemoryClient.h | 2 +-
.../VirtualRobotReaderExampleClient.cpp | 2 +-
.../VirtualRobotReaderExampleClient.h | 2 +-
.../server/SkillsMemory/SkillsMemory.cpp | 2 +-
.../ObjectPoseGuiWidgetController.cpp | 8 +-
.../objectpose/ObjectPoseStorageInterface.ice | 6 +-
.../RobotAPI/libraries/armem/client/Query.cpp | 2 +-
.../RobotAPI/libraries/armem/client/Query.h | 4 +-
.../libraries/armem/client/Reader.cpp | 38 ++++-----
.../RobotAPI/libraries/armem/client/Reader.h | 3 +-
.../RobotAPI/libraries/armem/client/Writer.h | 2 +-
.../armem/client/query/selectors.cpp | 2 +-
source/RobotAPI/libraries/armem/core.h | 8 +-
.../armem/core/base/detail/iteration_mixins.h | 26 ++++++-
.../armem/core/diskmemory/CoreSegment.h | 4 +-
.../libraries/armem/core/diskmemory/Entity.h | 4 +-
.../armem/core/diskmemory/EntityInstance.cpp | 6 +-
.../armem/core/diskmemory/EntityInstance.h | 4 +-
.../armem/core/diskmemory/EntitySnapshot.h | 4 +-
.../libraries/armem/core/diskmemory/Memory.h | 4 +-
.../armem/core/diskmemory/ProviderSegment.h | 4 +-
.../armem/core/longtermmemory/CoreSegment.h | 4 +-
.../armem/core/longtermmemory/Entity.h | 4 +-
.../core/longtermmemory/EntitySnapshot.cpp | 4 +-
.../core/longtermmemory/EntitySnapshot.h | 4 +-
.../armem/core/longtermmemory/Memory.h | 4 +-
.../core/longtermmemory/ProviderSegment.h | 4 +-
.../libraries/armem/core/operations.cpp | 4 +-
.../libraries/armem/core/operations.h | 10 +--
.../libraries/armem/server/ComponentPlugin.h | 2 +-
.../libraries/armem/server/MemoryRemoteGui.h | 2 +-
.../armem/server/MemoryToIceAdapter.cpp | 2 +-
.../armem/server/MemoryToIceAdapter.h | 2 +-
.../CoreSegmentQueryProcessor.cpp | 2 +-
.../workingmemory/CoreSegmentQueryProcessor.h | 2 +-
.../workingmemory/EntityQueryProcessor.cpp | 2 +-
.../workingmemory/EntityQueryProcessor.h | 2 +-
.../workingmemory/MemoryQueryProcessor.h | 2 +-
.../ProviderSegmentQueryProcessor.cpp | 2 +-
.../ProviderSegmentQueryProcessor.h | 2 +-
.../libraries/armem/test/ArMemForEachTest.cpp | 19 ++++-
.../armem/test/ArMemIceConversionsTest.cpp | 2 +-
.../libraries/armem/test/ArMemLTMTest.cpp | 4 +-
.../libraries/armem/test/ArMemMemoryTest.cpp | 2 +-
.../armem/test/ArMemQueryBuilderTest.cpp | 7 +-
source/RobotAPI/libraries/armem/util/util.h | 3 +-
.../libraries/armem_gui/MemoryViewer.cpp | 2 +-
.../armem_gui/instance/InstanceView.h | 2 +-
.../armem_gui/instance/InstanceViewList.h | 2 +-
.../libraries/armem_gui/memory/TreeWidget.h | 2 +-
.../MotionDatabase/MDBMotions/Segment.cpp | 5 +-
.../ArticulatedObjectReader.cpp | 2 +-
.../client/articulated_object/Reader.cpp | 2 +-
.../client/articulated_object/utils.h | 2 +-
.../client/attachment/Reader.cpp | 2 +-
.../server/attachments/Segment.cpp | 1 -
.../armem_objects/server/class/FloorVis.cpp | 2 +-
.../armem_objects/server/class/Segment.h | 2 +-
.../armem_objects/server/instance/Segment.cpp | 77 +++++++------------
.../armem_objects/server/instance/Segment.h | 2 +-
.../armem_robot/robot_conversions.cpp | 2 +-
.../client/common/RobotReader.cpp | 63 +++++++--------
.../client/localization/TransformReader.cpp | 6 +-
.../client/localization/TransformWriter.cpp | 6 +-
.../common/localization/TransformHelper.cpp | 12 +--
.../common/localization/TransformHelper.h | 3 +-
.../server/description/Segment.cpp | 1 -
.../server/localization/Segment.cpp | 1 -
.../server/proprioception/Segment.cpp | 1 -
.../client/laser_scans/Reader.cpp | 12 ++-
.../client/laser_scans/Writer.cpp | 2 +-
.../client/occupancy_grid/Reader.cpp | 44 +++++------
.../client/occupancy_grid/Reader.h | 6 +-
.../client/occupancy_grid/Writer.cpp | 5 +-
.../client/occupancy_grid/Writer.h | 4 +-
78 files changed, 243 insertions(+), 274 deletions(-)
diff --git a/source/RobotAPI/components/ArticulatedObjectLocalizerExample/ArticulatedObjectLocalizerExample.cpp b/source/RobotAPI/components/ArticulatedObjectLocalizerExample/ArticulatedObjectLocalizerExample.cpp
index 487c9c6fc..72e5b8f33 100644
--- a/source/RobotAPI/components/ArticulatedObjectLocalizerExample/ArticulatedObjectLocalizerExample.cpp
+++ b/source/RobotAPI/components/ArticulatedObjectLocalizerExample/ArticulatedObjectLocalizerExample.cpp
@@ -42,7 +42,7 @@
#include <RobotAPI/libraries/armem/client/query/Builder.h>
#include <RobotAPI/libraries/armem/client/query/query_fns.h>
#include <RobotAPI/libraries/armem/core/Time.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/ice_conversions.h>
+#include <RobotAPI/libraries/armem/core/wm/ice_conversions.h>
#include <RobotAPI/libraries/armem/server/MemoryRemoteGui.h>
#include <RobotAPI/libraries/armem_objects/types.h>
diff --git a/source/RobotAPI/components/ArticulatedObjectLocalizerExample/ArticulatedObjectLocalizerExample.h b/source/RobotAPI/components/ArticulatedObjectLocalizerExample/ArticulatedObjectLocalizerExample.h
index f85a804e9..b4cab3fc7 100644
--- a/source/RobotAPI/components/ArticulatedObjectLocalizerExample/ArticulatedObjectLocalizerExample.h
+++ b/source/RobotAPI/components/ArticulatedObjectLocalizerExample/ArticulatedObjectLocalizerExample.h
@@ -14,7 +14,7 @@
#include <RobotAPI/interface/armem/mns/MemoryNameSystemInterface.h>
#include <RobotAPI/interface/armem/server/MemoryInterface.h>
#include <RobotAPI/libraries/armem/client/ComponentPlugin.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/Memory.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
#include <RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectReader.h>
#include <RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectWriter.h>
diff --git a/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.cpp b/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.cpp
index b0c45c182..036d27d2b 100644
--- a/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.cpp
+++ b/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.cpp
@@ -34,7 +34,7 @@
#include <RobotAPI/libraries/armem/client/query/query_fns.h>
#include <RobotAPI/libraries/armem/core/error.h>
#include <RobotAPI/libraries/armem/core/aron_conversions.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/ice_conversions.h>
+#include <RobotAPI/libraries/armem/core/wm/ice_conversions.h>
#include <RobotAPI/components/armem/server/ExampleMemory/aron/ExampleData.aron.generated.h>
@@ -263,14 +263,14 @@ namespace armarx
ARMARX_IMPORTANT << "Getting entity via ID";
armem::wm::Memory& memory = qResult.memory;
- ARMARX_CHECK_EQUAL(memory.size(), 1);
+ ARMARX_CHECK_GREATER_EQUAL(memory.size(), 1);
const armem::wm::Entity* entity = memory.findEntity(entityID);
ARMARX_CHECK_NOT_NULL(entity);
ARMARX_CHECK_GREATER_EQUAL(entity->size(), 1);
const armem::wm::EntitySnapshot& snapshot = entity->getLatestSnapshot();
- ARMARX_CHECK_EQUAL(snapshot.size(), 1);
+ ARMARX_CHECK_GREATER_EQUAL(snapshot.size(), 1);
ARMARX_INFO << "Result: "
<< "\n- entity: \t" << entity->name()
diff --git a/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.h b/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.h
index 5680e316a..ca28ab86b 100644
--- a/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.h
+++ b/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.h
@@ -34,7 +34,7 @@
#include <RobotAPI/interface/armem/server/MemoryInterface.h>
#include <RobotAPI/interface/armem/mns/MemoryNameSystemInterface.h>
#include <RobotAPI/libraries/armem/client/ComponentPlugin.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/Memory.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
namespace armarx
diff --git a/source/RobotAPI/components/armem/client/VirtualRobotReaderExampleClient/VirtualRobotReaderExampleClient.cpp b/source/RobotAPI/components/armem/client/VirtualRobotReaderExampleClient/VirtualRobotReaderExampleClient.cpp
index 6650e5737..8ab75efc7 100644
--- a/source/RobotAPI/components/armem/client/VirtualRobotReaderExampleClient/VirtualRobotReaderExampleClient.cpp
+++ b/source/RobotAPI/components/armem/client/VirtualRobotReaderExampleClient/VirtualRobotReaderExampleClient.cpp
@@ -23,7 +23,7 @@
#include <RobotAPI/libraries/armem/client/query/Builder.h>
#include <RobotAPI/libraries/armem/client/query/query_fns.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/ice_conversions.h>
+#include <RobotAPI/libraries/armem/core/wm/ice_conversions.h>
#include <RobotAPI/libraries/armem/server/MemoryRemoteGui.h>
#include <RobotAPI/libraries/armem/core/Time.h>
diff --git a/source/RobotAPI/components/armem/client/VirtualRobotReaderExampleClient/VirtualRobotReaderExampleClient.h b/source/RobotAPI/components/armem/client/VirtualRobotReaderExampleClient/VirtualRobotReaderExampleClient.h
index 4e1d01f55..33770ad54 100644
--- a/source/RobotAPI/components/armem/client/VirtualRobotReaderExampleClient/VirtualRobotReaderExampleClient.h
+++ b/source/RobotAPI/components/armem/client/VirtualRobotReaderExampleClient/VirtualRobotReaderExampleClient.h
@@ -33,7 +33,7 @@
#include <RobotAPI/interface/armem/server/MemoryInterface.h>
#include <RobotAPI/interface/armem/mns/MemoryNameSystemInterface.h>
#include <RobotAPI/libraries/armem/client/ComponentPlugin.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/Memory.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
#include <RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.h>
diff --git a/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.cpp b/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.cpp
index c0a9fd2f3..098fe6f1d 100644
--- a/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.cpp
+++ b/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.cpp
@@ -29,7 +29,7 @@
#include <ArmarXCore/core/logging/Logging.h>
#include <RobotAPI/libraries/armem/core/error.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/CoreSegment.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
#include <RobotAPI/libraries/armem/server/MemoryRemoteGui.h>
#include <RobotAPI/libraries/armem_skills/aron_conversions.h>
diff --git a/source/RobotAPI/gui-plugins/ObjectPoseGui/ObjectPoseGuiWidgetController.cpp b/source/RobotAPI/gui-plugins/ObjectPoseGui/ObjectPoseGuiWidgetController.cpp
index dffe7711d..adb7c77bd 100644
--- a/source/RobotAPI/gui-plugins/ObjectPoseGui/ObjectPoseGuiWidgetController.cpp
+++ b/source/RobotAPI/gui-plugins/ObjectPoseGui/ObjectPoseGuiWidgetController.cpp
@@ -201,7 +201,7 @@ namespace armarx
{
bool expand = item->childCount() == 0;
- TreeWidgetBuilder builder(objectPoses);
+ TreeWidgetBuilder<objpose::ObjectPose> builder;
builder.setNameFn([](const objpose::ObjectPose & pose)
{
return pose.objectID.str();
@@ -245,7 +245,7 @@ namespace armarx
return true;
});
- builder.updateTree(item, objectPoses);
+ builder.updateTreeWithContainer(item, objectPoses);
if (expand)
{
@@ -299,7 +299,7 @@ namespace armarx
{
(void) dataset;
- TreeWidgetBuilder builder(datasetData);
+ TreeWidgetBuilder<std::pair<std::string, std::string>> builder;
builder.setCompareFn([](const std::pair<std::string, std::string>& lhs, QTreeWidgetItem * item)
{
auto rhs = std::make_pair(item->text(0).toStdString(), item->text(1).toStdString());
@@ -324,7 +324,7 @@ namespace armarx
}
return true;
});
- builder.updateTree(datasetItem, datasetData);
+ builder.updateTreeWithContainer(datasetItem, datasetData);
return true;
});
diff --git a/source/RobotAPI/interface/objectpose/ObjectPoseStorageInterface.ice b/source/RobotAPI/interface/objectpose/ObjectPoseStorageInterface.ice
index 3097f6c75..1dfe8b9f2 100644
--- a/source/RobotAPI/interface/objectpose/ObjectPoseStorageInterface.ice
+++ b/source/RobotAPI/interface/objectpose/ObjectPoseStorageInterface.ice
@@ -81,7 +81,7 @@ module armarx
};
struct AttachObjectToRobotNodeOutput
{
- bool success;
+ bool success = false;
data::ObjectAttachmentInfo attachment;
};
@@ -99,7 +99,7 @@ module armarx
struct DetachObjectFromRobotNodeOutput
{
/// Whether the object was attached before.
- bool wasAttached;
+ bool wasAttached = false;
};
struct DetachAllObjectsFromRobotNodesInput
@@ -113,7 +113,7 @@ module armarx
struct DetachAllObjectsFromRobotNodesOutput
{
/// Number of objects that have been detached.
- int numDetached;
+ int numDetached = 0;
};
struct AgentFrames
diff --git a/source/RobotAPI/libraries/armem/client/Query.cpp b/source/RobotAPI/libraries/armem/client/Query.cpp
index 1777839f2..52000cf3d 100644
--- a/source/RobotAPI/libraries/armem/client/Query.cpp
+++ b/source/RobotAPI/libraries/armem/client/Query.cpp
@@ -1,6 +1,6 @@
#include "Query.h"
-#include <RobotAPI/libraries/armem/core/workingmemory/ice_conversions.h>
+#include <RobotAPI/libraries/armem/core/wm/ice_conversions.h>
namespace armarx::armem::client
{
diff --git a/source/RobotAPI/libraries/armem/client/Query.h b/source/RobotAPI/libraries/armem/client/Query.h
index c6bb445bf..56b9caa79 100644
--- a/source/RobotAPI/libraries/armem/client/Query.h
+++ b/source/RobotAPI/libraries/armem/client/Query.h
@@ -3,10 +3,10 @@
// RobotAPI
#include <RobotAPI/interface/armem/query.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/ice_conversions.h>
+#include <RobotAPI/libraries/armem/core/wm/ice_conversions.h>
#include <RobotAPI/libraries/armem/core/SuccessHeader.h>
#include <RobotAPI/libraries/armem/core/DataMode.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/Memory.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
namespace armarx::armem::client::query
diff --git a/source/RobotAPI/libraries/armem/client/Reader.cpp b/source/RobotAPI/libraries/armem/client/Reader.cpp
index a589512f1..1f0e2ee51 100644
--- a/source/RobotAPI/libraries/armem/client/Reader.cpp
+++ b/source/RobotAPI/libraries/armem/client/Reader.cpp
@@ -6,9 +6,8 @@
#include <RobotAPI/libraries/armem/core/MemoryID_operators.h>
#include <RobotAPI/libraries/armem/core/longtermmemory/Memory.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/Memory.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/visitor.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/ice_conversions.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
+#include <RobotAPI/libraries/armem/core/wm/ice_conversions.h>
#include <RobotAPI/libraries/armem/util/util.h>
#include "query/Builder.h"
@@ -162,30 +161,25 @@ namespace armarx::armem::client
}
- struct FindLatestSnapshotVisitor : public wm::Visitor
- {
- std::optional<wm::EntitySnapshot> latest = std::nullopt;
-
- bool visitEnter(const wm::EntitySnapshot& snapshot) override;
- };
- bool FindLatestSnapshotVisitor::visitEnter(const wm::EntitySnapshot& snapshot)
- {
- if (not latest.has_value() or snapshot.time() < latest->time())
- {
- latest = snapshot;
- }
- return true;
- }
-
-
std::optional<wm::EntitySnapshot> Reader::getLatestSnapshotIn(const MemoryID& id, DataMode dataMode) const
{
client::QueryResult result = getLatestSnapshotsIn(id, dataMode);
if (result.success)
{
- FindLatestSnapshotVisitor visitor;
- visitor.applyTo(result.memory);
- return visitor.latest;
+ std::optional<wm::EntitySnapshot> latest = std::nullopt;
+ result.memory.forEachEntity([&latest](const wm::Entity & entity)
+ {
+ if (not entity.empty())
+ {
+ const wm::EntitySnapshot& snapshot = entity.getLatestSnapshot();
+ if (not latest.has_value() or latest->time() < snapshot.time())
+ {
+ latest = snapshot;
+ }
+ }
+ return true;
+ });
+ return latest;
}
else
{
diff --git a/source/RobotAPI/libraries/armem/client/Reader.h b/source/RobotAPI/libraries/armem/client/Reader.h
index 1d69491d2..e9ee1b69a 100644
--- a/source/RobotAPI/libraries/armem/client/Reader.h
+++ b/source/RobotAPI/libraries/armem/client/Reader.h
@@ -8,8 +8,7 @@
// RobotAPI
#include <RobotAPI/interface/armem/server/ReadingMemoryInterface.h>
#include <RobotAPI/interface/armem/server/StoringMemoryInterface.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/EntitySnapshot.h>
-// #include <RobotAPI/libraries/armem/core/workingmemory/ice_conversions.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
#include "Query.h"
diff --git a/source/RobotAPI/libraries/armem/client/Writer.h b/source/RobotAPI/libraries/armem/client/Writer.h
index dd953fa36..92c7ce04a 100644
--- a/source/RobotAPI/libraries/armem/client/Writer.h
+++ b/source/RobotAPI/libraries/armem/client/Writer.h
@@ -2,7 +2,7 @@
#include <RobotAPI/interface/armem/server/WritingMemoryInterface.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/ice_conversions.h>
+#include <RobotAPI/libraries/armem/core/wm/ice_conversions.h>
namespace armarx::armem::client
diff --git a/source/RobotAPI/libraries/armem/client/query/selectors.cpp b/source/RobotAPI/libraries/armem/client/query/selectors.cpp
index 98e79d06a..ecd3f8c5f 100644
--- a/source/RobotAPI/libraries/armem/client/query/selectors.cpp
+++ b/source/RobotAPI/libraries/armem/client/query/selectors.cpp
@@ -1,7 +1,7 @@
#include "selectors.h"
#include "RobotAPI/libraries/armem/core/ice_conversions.h"
-#include <RobotAPI/libraries/armem/core/workingmemory/ice_conversions.h>
+#include <RobotAPI/libraries/armem/core/wm/ice_conversions.h>
namespace dq = ::armarx::armem::query::data;
diff --git a/source/RobotAPI/libraries/armem/core.h b/source/RobotAPI/libraries/armem/core.h
index c8ddee31c..11abe789b 100644
--- a/source/RobotAPI/libraries/armem/core.h
+++ b/source/RobotAPI/libraries/armem/core.h
@@ -6,13 +6,7 @@
#include "core/MemoryID.h"
#include "core/Time.h"
-#include "core/workingmemory/Memory.h"
-#include "core/workingmemory/CoreSegment.h"
-#include "core/workingmemory/ProviderSegment.h"
-#include "core/workingmemory/Entity.h"
-#include "core/workingmemory/EntitySnapshot.h"
-#include "core/workingmemory/EntityInstance.h"
-#include "core/workingmemory/ice_conversions.h"
+#include "core/wm.h"
namespace armarx::armem
diff --git a/source/RobotAPI/libraries/armem/core/base/detail/iteration_mixins.h b/source/RobotAPI/libraries/armem/core/base/detail/iteration_mixins.h
index 9a6f7e53b..189c33799 100644
--- a/source/RobotAPI/libraries/armem/core/base/detail/iteration_mixins.h
+++ b/source/RobotAPI/libraries/armem/core/base/detail/iteration_mixins.h
@@ -15,13 +15,21 @@ namespace armarx::armem::base::detail
{
for (auto& child : container)
{
- if (!func(child))
+ if constexpr(std::is_same_v<decltype(func(child)), bool>)
{
- return false;
+ if (!func(child))
+ {
+ return false;
+ }
+ }
+ else
+ {
+ func(child);
}
}
return true;
}
+#if 0
template <class ContainerT, class FunctionT>
bool forEachChildSingle(const ContainerT& container, FunctionT&& func)
{
@@ -34,6 +42,7 @@ namespace armarx::armem::base::detail
}
return true;
}
+#endif
// Pair-valued containers.
template <class ContainerT, class FunctionT>
@@ -41,13 +50,21 @@ namespace armarx::armem::base::detail
{
for (auto& [_, child] : container)
{
- if (!func(child))
+ if constexpr(std::is_same_v<decltype(func(child)), bool>)
{
- return false;
+ if (!func(child))
+ {
+ return false;
+ }
+ }
+ else
+ {
+ func(child);
}
}
return true;
}
+#if 0
template <class ContainerT, class FunctionT>
bool forEachChildPair(const ContainerT& container, FunctionT&& func)
{
@@ -60,6 +77,7 @@ namespace armarx::armem::base::detail
}
return true;
}
+#endif
// see: https://en.cppreference.com/w/cpp/types/void_t
diff --git a/source/RobotAPI/libraries/armem/core/diskmemory/CoreSegment.h b/source/RobotAPI/libraries/armem/core/diskmemory/CoreSegment.h
index cccf81b00..2d8bd8f29 100644
--- a/source/RobotAPI/libraries/armem/core/diskmemory/CoreSegment.h
+++ b/source/RobotAPI/libraries/armem/core/diskmemory/CoreSegment.h
@@ -2,8 +2,8 @@
#include <filesystem>
-#include "../base/CoreSegmentBase.h"
-#include "../workingmemory/CoreSegment.h"
+#include <RobotAPI/libraries/armem/core/base/CoreSegmentBase.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
#include "ProviderSegment.h"
diff --git a/source/RobotAPI/libraries/armem/core/diskmemory/Entity.h b/source/RobotAPI/libraries/armem/core/diskmemory/Entity.h
index 09b8ab78c..63011ceff 100644
--- a/source/RobotAPI/libraries/armem/core/diskmemory/Entity.h
+++ b/source/RobotAPI/libraries/armem/core/diskmemory/Entity.h
@@ -2,8 +2,8 @@
#include <filesystem>
-#include "../base/EntityBase.h"
-#include "../workingmemory/Entity.h"
+#include <RobotAPI/libraries/armem/core/base/EntityBase.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
#include "EntitySnapshot.h"
diff --git a/source/RobotAPI/libraries/armem/core/diskmemory/EntityInstance.cpp b/source/RobotAPI/libraries/armem/core/diskmemory/EntityInstance.cpp
index e3bff18fa..e658ce8c2 100644
--- a/source/RobotAPI/libraries/armem/core/diskmemory/EntityInstance.cpp
+++ b/source/RobotAPI/libraries/armem/core/diskmemory/EntityInstance.cpp
@@ -1,8 +1,8 @@
#include "EntityInstance.h"
-#include "../../core/error.h"
-#include "../workingmemory/json_conversions.h"
-#include "../workingmemory/entityInstance_conversions.h"
+#include <RobotAPI/libraries/armem/core/error.h>
+#include <RobotAPI/libraries/armem/core/wm/aron_conversions.h>
+#include <RobotAPI/libraries/armem/core/wm/json_conversions.h>
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
diff --git a/source/RobotAPI/libraries/armem/core/diskmemory/EntityInstance.h b/source/RobotAPI/libraries/armem/core/diskmemory/EntityInstance.h
index c94ee5dcd..c56a944f2 100644
--- a/source/RobotAPI/libraries/armem/core/diskmemory/EntityInstance.h
+++ b/source/RobotAPI/libraries/armem/core/diskmemory/EntityInstance.h
@@ -2,8 +2,8 @@
#include <filesystem>
-#include "../base/EntityInstanceBase.h"
-#include "../workingmemory/EntityInstance.h"
+#include <RobotAPI/libraries/armem/core/base/EntityInstanceBase.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
#include <RobotAPI/libraries/aron/core/navigator/type/forward_declarations.h>
diff --git a/source/RobotAPI/libraries/armem/core/diskmemory/EntitySnapshot.h b/source/RobotAPI/libraries/armem/core/diskmemory/EntitySnapshot.h
index 5005af5f7..9587e3be4 100644
--- a/source/RobotAPI/libraries/armem/core/diskmemory/EntitySnapshot.h
+++ b/source/RobotAPI/libraries/armem/core/diskmemory/EntitySnapshot.h
@@ -2,8 +2,8 @@
#include <filesystem>
-#include "../base/EntitySnapshotBase.h"
-#include "../workingmemory/EntitySnapshot.h"
+#include <RobotAPI/libraries/armem/core/base/EntitySnapshotBase.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
#include "EntityInstance.h"
diff --git a/source/RobotAPI/libraries/armem/core/diskmemory/Memory.h b/source/RobotAPI/libraries/armem/core/diskmemory/Memory.h
index de2cae3c7..aaa1e460a 100644
--- a/source/RobotAPI/libraries/armem/core/diskmemory/Memory.h
+++ b/source/RobotAPI/libraries/armem/core/diskmemory/Memory.h
@@ -2,8 +2,8 @@
#include <filesystem>
-#include "../base/MemoryBase.h"
-#include "../workingmemory/Memory.h"
+#include <RobotAPI/libraries/armem/core/base/MemoryBase.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
#include "CoreSegment.h"
diff --git a/source/RobotAPI/libraries/armem/core/diskmemory/ProviderSegment.h b/source/RobotAPI/libraries/armem/core/diskmemory/ProviderSegment.h
index eb7d300e0..0e866b08c 100644
--- a/source/RobotAPI/libraries/armem/core/diskmemory/ProviderSegment.h
+++ b/source/RobotAPI/libraries/armem/core/diskmemory/ProviderSegment.h
@@ -2,8 +2,8 @@
#include <filesystem>
-#include "../base/ProviderSegmentBase.h"
-#include "../workingmemory/ProviderSegment.h"
+#include <RobotAPI/libraries/armem/core/base/ProviderSegmentBase.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
#include "Entity.h"
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/CoreSegment.h b/source/RobotAPI/libraries/armem/core/longtermmemory/CoreSegment.h
index 797b9df1f..32f05ef2f 100644
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/CoreSegment.h
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/CoreSegment.h
@@ -3,8 +3,8 @@
#include "ProviderSegment.h"
#include "mongodb/MongoDBConnectionManager.h"
-#include "../base/CoreSegmentBase.h"
-#include "../workingmemory/CoreSegment.h"
+#include <RobotAPI/libraries/armem/core/base/CoreSegmentBase.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
namespace armarx::armem::ltm
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/Entity.h b/source/RobotAPI/libraries/armem/core/longtermmemory/Entity.h
index 79c783de9..e3feb413c 100644
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/Entity.h
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/Entity.h
@@ -3,8 +3,8 @@
#include "EntitySnapshot.h"
#include "mongodb/MongoDBConnectionManager.h"
-#include "../base/EntityBase.h"
-#include "../workingmemory/Entity.h"
+#include <RobotAPI/libraries/armem/core/base/EntityBase.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
namespace armarx::armem::ltm
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/EntitySnapshot.cpp b/source/RobotAPI/libraries/armem/core/longtermmemory/EntitySnapshot.cpp
index 1244abb46..443291c13 100644
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/EntitySnapshot.cpp
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/EntitySnapshot.cpp
@@ -2,8 +2,8 @@
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-#include "../workingmemory/entityInstance_conversions.h"
-#include "../workingmemory/json_conversions.h"
+#include <RobotAPI/libraries/armem/core/wm/aron_conversions.h>
+#include <RobotAPI/libraries/armem/core/wm/json_conversions.h>
#include "error.h"
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/EntitySnapshot.h b/source/RobotAPI/libraries/armem/core/longtermmemory/EntitySnapshot.h
index b3d6211bd..3029f8a7c 100644
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/EntitySnapshot.h
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/EntitySnapshot.h
@@ -3,8 +3,8 @@
#include "EntityInstance.h"
#include "mongodb/MongoDBConnectionManager.h"
-#include "../base/EntitySnapshotBase.h"
-#include "../workingmemory/EntitySnapshot.h"
+#include <RobotAPI/libraries/armem/core/base/EntitySnapshotBase.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
#include <RobotAPI/libraries/aron/core/navigator/type/forward_declarations.h>
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/Memory.h b/source/RobotAPI/libraries/armem/core/longtermmemory/Memory.h
index 18b655ef5..dbeb2a538 100644
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/Memory.h
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/Memory.h
@@ -3,8 +3,8 @@
#include "CoreSegment.h"
#include "mongodb/MongoDBConnectionManager.h"
-#include "../base/MemoryBase.h"
-#include "../workingmemory/Memory.h"
+#include <RobotAPI/libraries/armem/core/base/MemoryBase.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
#include <ArmarXCore/core/application/properties/forward_declarations.h>
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/ProviderSegment.h b/source/RobotAPI/libraries/armem/core/longtermmemory/ProviderSegment.h
index ed48ff071..bf1d5e3a9 100644
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/ProviderSegment.h
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/ProviderSegment.h
@@ -3,8 +3,8 @@
#include "Entity.h"
#include "mongodb/MongoDBConnectionManager.h"
-#include "../base/ProviderSegmentBase.h"
-#include "../workingmemory/ProviderSegment.h"
+#include <RobotAPI/libraries/armem/core/base/ProviderSegmentBase.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
namespace armarx::armem::ltm
diff --git a/source/RobotAPI/libraries/armem/core/operations.cpp b/source/RobotAPI/libraries/armem/core/operations.cpp
index e43995730..b9ebedd31 100644
--- a/source/RobotAPI/libraries/armem/core/operations.cpp
+++ b/source/RobotAPI/libraries/armem/core/operations.cpp
@@ -1,7 +1,5 @@
#include "operations.h"
-#include "workingmemory/EntityInstance.h"
-
namespace armarx
{
@@ -10,7 +8,7 @@ namespace armarx
armem::getAronData(const wm::EntitySnapshot& snapshot)
{
std::vector<aron::datanavigator::DictNavigatorPtr> result;
- snapshot.forEachChild([&result](const wm::EntityInstance& instance)
+ snapshot.forEachChild([&result](const wm::EntityInstance & instance)
{
result.push_back(instance.data());
return true;
diff --git a/source/RobotAPI/libraries/armem/core/operations.h b/source/RobotAPI/libraries/armem/core/operations.h
index 9fc479dcf..3b0182e32 100644
--- a/source/RobotAPI/libraries/armem/core/operations.h
+++ b/source/RobotAPI/libraries/armem/core/operations.h
@@ -1,14 +1,6 @@
#pragma once
-#if 0 // Not need at the moment.
-#include "workingmemory/Memory.h"
-#include "workingmemory/CoreSegment.h"
-#include "workingmemory/ProviderSegment.h"
-#include "workingmemory/Entity.h"
-#include "workingmemory/EntityInstance.h"
-#endif
-
-#include "workingmemory/EntitySnapshot.h"
+#include "wm/memory_definitions.h"
/*
diff --git a/source/RobotAPI/libraries/armem/server/ComponentPlugin.h b/source/RobotAPI/libraries/armem/server/ComponentPlugin.h
index 06ba31f7a..50951ab82 100644
--- a/source/RobotAPI/libraries/armem/server/ComponentPlugin.h
+++ b/source/RobotAPI/libraries/armem/server/ComponentPlugin.h
@@ -8,7 +8,7 @@
#include <RobotAPI/interface/armem/client/MemoryListenerInterface.h>
#include <RobotAPI/interface/armem/mns/MemoryNameSystemInterface.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/Memory.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
#include <RobotAPI/libraries/armem/core/longtermmemory/Memory.h>
#include <RobotAPI/libraries/armem/client/MemoryNameSystemComponentPlugin.h>
diff --git a/source/RobotAPI/libraries/armem/server/MemoryRemoteGui.h b/source/RobotAPI/libraries/armem/server/MemoryRemoteGui.h
index f4a7fad95..0c363e075 100644
--- a/source/RobotAPI/libraries/armem/server/MemoryRemoteGui.h
+++ b/source/RobotAPI/libraries/armem/server/MemoryRemoteGui.h
@@ -2,7 +2,7 @@
#include <ArmarXGui/libraries/RemoteGui/Client/Widgets.h>
-#include "../core/workingmemory/Memory.h"
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
namespace armarx::armem::server
diff --git a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
index 60f134edc..b6c14f5a1 100644
--- a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
+++ b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
@@ -5,7 +5,7 @@
#include "query_proc/longtermmemory/MemoryQueryProcessor.h"
#include <RobotAPI/libraries/armem/core/error.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/ice_conversions.h>
+#include <RobotAPI/libraries/armem/core/wm/ice_conversions.h>
#include <RobotAPI/libraries/aron/core/Exception.h>
#include <ArmarXCore/core/logging/Logging.h>
diff --git a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.h b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.h
index f4b4b4c94..cc6657459 100644
--- a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.h
+++ b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.h
@@ -3,7 +3,7 @@
#include <RobotAPI/interface/armem/server/MemoryInterface.h>
#include <RobotAPI/interface/armem/client/MemoryListenerInterface.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/Memory.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
#include <RobotAPI/libraries/armem/core/longtermmemory/Memory.h>
#include <RobotAPI/libraries/armem/client/Query.h>
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/CoreSegmentQueryProcessor.cpp b/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/CoreSegmentQueryProcessor.cpp
index 4c41f1666..deb66ad71 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/CoreSegmentQueryProcessor.cpp
+++ b/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/CoreSegmentQueryProcessor.cpp
@@ -1,6 +1,6 @@
#include "CoreSegmentQueryProcessor.h"
-#include <RobotAPI/libraries/armem/core/workingmemory/ice_conversions.h>
+#include <RobotAPI/libraries/armem/core/wm/ice_conversions.h>
namespace armarx::armem::wm::query_proc
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/CoreSegmentQueryProcessor.h b/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/CoreSegmentQueryProcessor.h
index f9e1d59c9..a09f5c8ce 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/CoreSegmentQueryProcessor.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/CoreSegmentQueryProcessor.h
@@ -2,7 +2,7 @@
#include <mutex>
-#include <RobotAPI/libraries/armem/core/workingmemory/CoreSegment.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
#include <RobotAPI/libraries/armem/server/query_proc/base/CoreSegmentQueryProcessorBase.h>
#include "BaseQueryProcessor.h"
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/EntityQueryProcessor.cpp b/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/EntityQueryProcessor.cpp
index b8d97d2d0..ec1c7640c 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/EntityQueryProcessor.cpp
+++ b/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/EntityQueryProcessor.cpp
@@ -1,6 +1,6 @@
#include "EntityQueryProcessor.h"
-#include <RobotAPI/libraries/armem/core/workingmemory/ice_conversions.h>
+#include <RobotAPI/libraries/armem/core/wm/ice_conversions.h>
namespace armarx::armem::wm::query_proc
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/EntityQueryProcessor.h b/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/EntityQueryProcessor.h
index dde53a8ff..4d0a2e02a 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/EntityQueryProcessor.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/EntityQueryProcessor.h
@@ -1,6 +1,6 @@
#pragma once
-#include <RobotAPI/libraries/armem/core/workingmemory/Entity.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
#include <RobotAPI/libraries/armem/server/query_proc/base/EntityQueryProcessorBase.h>
#include "BaseQueryProcessor.h"
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/MemoryQueryProcessor.h b/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/MemoryQueryProcessor.h
index c57eea94a..a442baaf3 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/MemoryQueryProcessor.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/MemoryQueryProcessor.h
@@ -1,6 +1,6 @@
#pragma once
-#include <RobotAPI/libraries/armem/core/workingmemory/Memory.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
#include <RobotAPI/libraries/armem/server/query_proc/base/MemoryQueryProcessorBase.h>
#include "BaseQueryProcessor.h"
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/ProviderSegmentQueryProcessor.cpp b/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/ProviderSegmentQueryProcessor.cpp
index eb2524631..d50d252aa 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/ProviderSegmentQueryProcessor.cpp
+++ b/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/ProviderSegmentQueryProcessor.cpp
@@ -1,6 +1,6 @@
#include "ProviderSegmentQueryProcessor.h"
-#include <RobotAPI/libraries/armem/core/workingmemory/ice_conversions.h>
+#include <RobotAPI/libraries/armem/core/wm/ice_conversions.h>
namespace armarx::armem::wm::query_proc
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/ProviderSegmentQueryProcessor.h b/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/ProviderSegmentQueryProcessor.h
index 8e4f5a5e8..ee878428d 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/ProviderSegmentQueryProcessor.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/ProviderSegmentQueryProcessor.h
@@ -1,6 +1,6 @@
#pragma once
-#include <RobotAPI/libraries/armem/core/workingmemory/ProviderSegment.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
#include <RobotAPI/libraries/armem/server/query_proc/base/ProviderSegmentQueryProcessorBase.h>
#include "BaseQueryProcessor.h"
diff --git a/source/RobotAPI/libraries/armem/test/ArMemForEachTest.cpp b/source/RobotAPI/libraries/armem/test/ArMemForEachTest.cpp
index 1aa9e3cfd..cc34f7e2d 100644
--- a/source/RobotAPI/libraries/armem/test/ArMemForEachTest.cpp
+++ b/source/RobotAPI/libraries/armem/test/ArMemForEachTest.cpp
@@ -26,7 +26,7 @@
#include <RobotAPI/Test.h>
#include <RobotAPI/libraries/armem/core/Commit.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/Memory.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
#include <iostream>
#include <set>
@@ -168,3 +168,20 @@ BOOST_AUTO_TEST_CASE(test_forEach)
BOOST_CHECK_EQUAL(cids.size(), 0);
}
+
+
+BOOST_AUTO_TEST_CASE(test_forEach_non_bool_func)
+{
+ // Check whether this compiles + runs without break.
+
+ armem::wm::Entity entity;
+ entity.addSnapshot(armem::Time::microSeconds(500));
+ entity.addSnapshot(armem::Time::microSeconds(1500));
+
+ int i = 0;
+ entity.forEachSnapshot([&i](const armem::wm::EntitySnapshot&) -> void
+ {
+ ++i;
+ });
+ BOOST_CHECK_EQUAL(i, 2);
+}
diff --git a/source/RobotAPI/libraries/armem/test/ArMemIceConversionsTest.cpp b/source/RobotAPI/libraries/armem/test/ArMemIceConversionsTest.cpp
index 52530a7c5..9fd00a4cf 100644
--- a/source/RobotAPI/libraries/armem/test/ArMemIceConversionsTest.cpp
+++ b/source/RobotAPI/libraries/armem/test/ArMemIceConversionsTest.cpp
@@ -25,7 +25,7 @@
#define ARMARX_BOOST_TEST
#include <RobotAPI/Test.h>
-#include "../core/workingmemory/ice_conversions.h"
+#include <RobotAPI/libraries/armem/core/wm/ice_conversions.h>
#include <iostream>
diff --git a/source/RobotAPI/libraries/armem/test/ArMemLTMTest.cpp b/source/RobotAPI/libraries/armem/test/ArMemLTMTest.cpp
index 01b3756af..3ac3d5041 100644
--- a/source/RobotAPI/libraries/armem/test/ArMemLTMTest.cpp
+++ b/source/RobotAPI/libraries/armem/test/ArMemLTMTest.cpp
@@ -25,8 +25,8 @@
#define ARMARX_BOOST_TEST
#include <RobotAPI/Test.h>
-#include "../core/workingmemory/Memory.h"
-#include "../core/error.h"
+#include <RobotAPI/libraries/armem/core/wm/ice_conversions.h>
+#include <RobotAPI/libraries/armem/core/error.h>
#include <RobotAPI/libraries/aron/core/navigator/data/AllNavigators.h>
#include <RobotAPI/libraries/aron/core/navigator/type/AllNavigators.h>
diff --git a/source/RobotAPI/libraries/armem/test/ArMemMemoryTest.cpp b/source/RobotAPI/libraries/armem/test/ArMemMemoryTest.cpp
index 022df2fc3..0e5149395 100644
--- a/source/RobotAPI/libraries/armem/test/ArMemMemoryTest.cpp
+++ b/source/RobotAPI/libraries/armem/test/ArMemMemoryTest.cpp
@@ -26,7 +26,7 @@
#include <RobotAPI/Test.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/Memory.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
#include <RobotAPI/libraries/armem/core/longtermmemory/Memory.h>
#include <RobotAPI/libraries/armem/core/diskmemory/Memory.h>
#include <RobotAPI/libraries/armem/core/error.h>
diff --git a/source/RobotAPI/libraries/armem/test/ArMemQueryBuilderTest.cpp b/source/RobotAPI/libraries/armem/test/ArMemQueryBuilderTest.cpp
index 535735b09..78d3077c0 100644
--- a/source/RobotAPI/libraries/armem/test/ArMemQueryBuilderTest.cpp
+++ b/source/RobotAPI/libraries/armem/test/ArMemQueryBuilderTest.cpp
@@ -25,9 +25,10 @@
#define ARMARX_BOOST_TEST
#include <RobotAPI/Test.h>
-#include "../client/query/Builder.h"
-#include "../client/query/query_fns.h"
-#include "../core/workingmemory/ice_conversions.h"
+#include <RobotAPI/libraries/armem/client/query/Builder.h>
+#include <RobotAPI/libraries/armem/client/query/query_fns.h>
+#include <RobotAPI/libraries/armem/core/wm/ice_conversions.h>
+
#include <iostream>
diff --git a/source/RobotAPI/libraries/armem/util/util.h b/source/RobotAPI/libraries/armem/util/util.h
index b1e3e7f3d..3045d583a 100644
--- a/source/RobotAPI/libraries/armem/util/util.h
+++ b/source/RobotAPI/libraries/armem/util/util.h
@@ -26,8 +26,7 @@
#include <ArmarXCore/core/logging/Logging.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/Entity.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/EntityInstance.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
#include <RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/AronCppClass.h>
diff --git a/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp b/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
index 76272adcf..ba8e66ff9 100644
--- a/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
+++ b/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
@@ -1,6 +1,6 @@
#include "MemoryViewer.h"
-#include <RobotAPI/libraries/armem/core/workingmemory/ice_conversions.h>
+#include <RobotAPI/libraries/armem/core/wm/ice_conversions.h>
#include <RobotAPI/libraries/armem_gui/gui_utils.h>
#include <RobotAPI/libraries/armem/core/diskmemory/Memory.h>
diff --git a/source/RobotAPI/libraries/armem_gui/instance/InstanceView.h b/source/RobotAPI/libraries/armem_gui/instance/InstanceView.h
index 26f9d3be5..c331f2b45 100644
--- a/source/RobotAPI/libraries/armem_gui/instance/InstanceView.h
+++ b/source/RobotAPI/libraries/armem_gui/instance/InstanceView.h
@@ -7,7 +7,7 @@
#include <RobotAPI/libraries/aron/core/navigator/type/container/Object.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/Memory.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
class QGroupBox;
diff --git a/source/RobotAPI/libraries/armem_gui/instance/InstanceViewList.h b/source/RobotAPI/libraries/armem_gui/instance/InstanceViewList.h
index 5f937f419..8dc24e0dc 100644
--- a/source/RobotAPI/libraries/armem_gui/instance/InstanceViewList.h
+++ b/source/RobotAPI/libraries/armem_gui/instance/InstanceViewList.h
@@ -6,7 +6,7 @@
#include <RobotAPI/libraries/aron/aroncore/navigators/typenavigator/AronObjectTypeNavigator.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/Memory.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
class QGroupBox;
diff --git a/source/RobotAPI/libraries/armem_gui/memory/TreeWidget.h b/source/RobotAPI/libraries/armem_gui/memory/TreeWidget.h
index 0dda62162..72987cda1 100644
--- a/source/RobotAPI/libraries/armem_gui/memory/TreeWidget.h
+++ b/source/RobotAPI/libraries/armem_gui/memory/TreeWidget.h
@@ -4,7 +4,7 @@
#include <QTreeWidget>
-#include <RobotAPI/libraries/armem/core/workingmemory/Memory.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
#include <RobotAPI/libraries/armem/core/longtermmemory/Memory.h>
#include <RobotAPI/libraries/armem_gui/TreeWidgetBuilder.h>
diff --git a/source/RobotAPI/libraries/armem_motions/server/MotionDatabase/MDBMotions/Segment.cpp b/source/RobotAPI/libraries/armem_motions/server/MotionDatabase/MDBMotions/Segment.cpp
index 93bec90ca..67ffed4ba 100644
--- a/source/RobotAPI/libraries/armem_motions/server/MotionDatabase/MDBMotions/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_motions/server/MotionDatabase/MDBMotions/Segment.cpp
@@ -10,8 +10,7 @@
#include "MotionConverter.h"
#include <RobotAPI/libraries/PriorKnowledge/motions/MotionFinder.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/EntityInstance.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/ProviderSegment.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
#include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
#include <ArmarXCore/core/application/properties/ProxyPropertyDefinition.h>
@@ -79,7 +78,7 @@ namespace armarx::armem::server::motions::mdb
instance.metadata().timeSent = IceUtil::Time::now();
instance.metadata().timeArrived = IceUtil::Time::now();
instance.metadata().confidence = 1.0;
- instance.setData(op->toAron());
+ instance.data() = op->toAron();
}
else
{
diff --git a/source/RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectReader.cpp b/source/RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectReader.cpp
index c973cf248..976d5bf9a 100644
--- a/source/RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectReader.cpp
+++ b/source/RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectReader.cpp
@@ -16,7 +16,7 @@
#include <RobotAPI/libraries/armem/client/query/Builder.h>
#include <RobotAPI/libraries/armem/core/Time.h>
#include <RobotAPI/libraries/armem/core/error.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/CoreSegment.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
#include <RobotAPI/libraries/armem_robot/aron/Robot.aron.generated.h>
#include <RobotAPI/libraries/armem_robot/aron_conversions.h>
#include <RobotAPI/libraries/armem_robot/robot_conversions.h>
diff --git a/source/RobotAPI/libraries/armem_objects/client/articulated_object/Reader.cpp b/source/RobotAPI/libraries/armem_objects/client/articulated_object/Reader.cpp
index d0bfb3570..be9a624f4 100644
--- a/source/RobotAPI/libraries/armem_objects/client/articulated_object/Reader.cpp
+++ b/source/RobotAPI/libraries/armem_objects/client/articulated_object/Reader.cpp
@@ -13,7 +13,7 @@
#include <RobotAPI/libraries/armem/client/query/Builder.h>
#include <RobotAPI/libraries/armem/core/Time.h>
#include <RobotAPI/libraries/armem/core/error.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/CoreSegment.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
#include <RobotAPI/libraries/armem_robot/aron/Robot.aron.generated.h>
#include <RobotAPI/libraries/armem_robot/aron_conversions.h>
#include <RobotAPI/libraries/armem_robot/robot_conversions.h>
diff --git a/source/RobotAPI/libraries/armem_objects/client/articulated_object/utils.h b/source/RobotAPI/libraries/armem_objects/client/articulated_object/utils.h
index 2e51a9e4b..9c5b48f39 100644
--- a/source/RobotAPI/libraries/armem_objects/client/articulated_object/utils.h
+++ b/source/RobotAPI/libraries/armem_objects/client/articulated_object/utils.h
@@ -2,7 +2,7 @@
#include <optional>
-#include "RobotAPI/libraries/armem/core/workingmemory/EntityInstance.h"
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
#include "RobotAPI/libraries/armem_robot/types.h"
#include <RobotAPI/libraries/armem_objects/aron/ObjectClass.aron.generated.h>
diff --git a/source/RobotAPI/libraries/armem_objects/client/attachment/Reader.cpp b/source/RobotAPI/libraries/armem_objects/client/attachment/Reader.cpp
index e5e91c309..938ba0986 100644
--- a/source/RobotAPI/libraries/armem_objects/client/attachment/Reader.cpp
+++ b/source/RobotAPI/libraries/armem_objects/client/attachment/Reader.cpp
@@ -9,7 +9,7 @@
#include <RobotAPI/libraries/armem/core/Time.h>
#include <RobotAPI/libraries/armem/core/error.h>
#include <RobotAPI/libraries/armem/client/query/Builder.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/CoreSegment.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
#include <RobotAPI/libraries/armem/util/util.h>
#include <RobotAPI/libraries/armem_robot/robot_conversions.h>
#include <RobotAPI/libraries/armem_robot/aron_conversions.h>
diff --git a/source/RobotAPI/libraries/armem_objects/server/attachments/Segment.cpp b/source/RobotAPI/libraries/armem_objects/server/attachments/Segment.cpp
index bb5d930da..365958be8 100644
--- a/source/RobotAPI/libraries/armem_objects/server/attachments/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/attachments/Segment.cpp
@@ -10,7 +10,6 @@
#include "RobotAPI/libraries/aron/common/aron_conversions.h"
#include <RobotAPI/libraries/armem/core/aron_conversions.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/visitor.h>
#include "RobotAPI/libraries/armem/core/MemoryID.h"
#include <RobotAPI/libraries/armem/client/Writer.h>
#include <RobotAPI/libraries/armem/client/query/Builder.h>
diff --git a/source/RobotAPI/libraries/armem_objects/server/class/FloorVis.cpp b/source/RobotAPI/libraries/armem_objects/server/class/FloorVis.cpp
index 08927d1e7..35ce3d1cf 100644
--- a/source/RobotAPI/libraries/armem_objects/server/class/FloorVis.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/class/FloorVis.cpp
@@ -1,6 +1,6 @@
#include "FloorVis.h"
-#include <RobotAPI/libraries/armem/core/workingmemory/CoreSegment.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
#include <RobotAPI/libraries/armem_objects/aron/ObjectClass.aron.generated.h>
#include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
diff --git a/source/RobotAPI/libraries/armem_objects/server/class/Segment.h b/source/RobotAPI/libraries/armem_objects/server/class/Segment.h
index 15c7c4f37..3e9717b3e 100644
--- a/source/RobotAPI/libraries/armem_objects/server/class/Segment.h
+++ b/source/RobotAPI/libraries/armem_objects/server/class/Segment.h
@@ -9,7 +9,7 @@
#include <RobotAPI/libraries/ArmarXObjects/ObjectID.h>
#include <RobotAPI/libraries/ArmarXObjects/ObjectFinder.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/Memory.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
#include <RobotAPI/libraries/armem/server/segment/SpecializedSegment.h>
#include <RobotAPI/libraries/armem_objects/server/class/FloorVis.h>
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
index 15a577619..e1826b2b2 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
@@ -7,7 +7,6 @@
#include <RobotAPI/libraries/armem/core/aron_conversions.h>
#include <RobotAPI/libraries/armem/core/error.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/visitor.h>
#include <RobotAPI/libraries/armem/client/Writer.h>
#include <RobotAPI/libraries/armem/client/query/Builder.h>
#include <RobotAPI/libraries/armem/client/query/query_fns.h>
@@ -290,14 +289,17 @@ namespace armarx::armem::server::obj::instance
armem::MemoryID entityID = armem::MemoryID().withEntityName(objectID.str());
if (providerName.empty())
{
- for (auto& [_, prov] : *coreSegment)
+ armem::wm::Entity* result = nullptr;
+ coreSegment->forEachProviderSegment([&result, &entityID](wm::ProviderSegment & prov)
{
if (prov.hasEntity(entityID.entityName))
{
- return &prov.getEntity(entityID);
+ result = &prov.getEntity(entityID);
+ return false;
}
- }
- return nullptr;
+ return true;
+ });
+ return result;
}
else
{
@@ -420,16 +422,16 @@ namespace armarx::armem::server::obj::instance
void Segment::getLatestObjectPoses(const armem::wm::CoreSegment& coreSeg, ObjectPoseMap& out)
{
- for (const auto& [_, provSegment] : coreSeg)
+ coreSeg.forEachProviderSegment([&out](const wm::ProviderSegment & provSegment)
{
getLatestObjectPoses(provSegment, out);
- }
+ });
}
void Segment::getLatestObjectPoses(const armem::wm::ProviderSegment& provSegment, ObjectPoseMap& out)
{
- for (const auto& [_, entity] : provSegment)
+ provSegment.forEachEntity([&out](const wm::Entity & entity)
{
if (!entity.empty())
{
@@ -445,19 +447,19 @@ namespace armarx::armem::server::obj::instance
}
}
}
- }
+ });
}
void Segment::getLatestObjectPose(const armem::wm::Entity& entity, ObjectPose& out)
{
- for (const armem::wm::EntityInstance& instance : entity.getLatestSnapshot())
+ entity.getLatestSnapshot().forEachInstance([&out](const wm::EntityInstance & instance)
{
arondto::ObjectInstance dto;
dto.fromAron(instance.data());
fromAron(dto, out);
- }
+ });
}
@@ -697,36 +699,6 @@ namespace armarx::armem::server::obj::instance
}
- struct DetachVisitor : public armem::wm::Visitor
- {
- Segment& owner;
- armem::Time now;
- bool commitAttachedPose;
-
- int numDetached = 0;
-
- DetachVisitor(Segment& owner, armem::Time now, bool commitAttachedPose) :
- owner(owner), now(now), commitAttachedPose(commitAttachedPose)
- {
- }
-
- virtual bool visitEnter(armem::wm::Entity& entity) override;
- };
-
-
- bool DetachVisitor::visitEnter(armem::wm::Entity& entity)
- {
- const arondto::ObjectInstance data = owner.getLatestInstanceData(entity);
- if (data.pose.attachmentValid)
- {
- numDetached++;
- // Store non-attached pose in new snapshot.
- owner.storeDetachedSnapshot(entity, data, now, commitAttachedPose);
- }
- return false; // Stop descending.
- }
-
-
objpose::DetachAllObjectsFromRobotNodesOutput Segment::detachAllObjectsFromRobotNodes(
const objpose::DetachAllObjectsFromRobotNodesInput& input)
{
@@ -734,11 +706,18 @@ namespace armarx::armem::server::obj::instance
const armem::Time now = armem::Time::now();
- DetachVisitor visitor(*this, now, input.commitAttachedPose);
- visitor.applyTo(*coreSegment);
-
objpose::DetachAllObjectsFromRobotNodesOutput output;
- output.numDetached = visitor.numDetached;
+ output.numDetached = 0;
+ coreSegment->forEachEntity([this, now, &input, &output](wm::Entity & entity)
+ {
+ const arondto::ObjectInstance data = this->getLatestInstanceData(entity);
+ if (data.pose.attachmentValid)
+ {
+ ++output.numDetached;
+ // Store non-attached pose in new snapshot.
+ this->storeDetachedSnapshot(entity, data, now, input.commitAttachedPose);
+ }
+ });
ARMARX_INFO << "Detached all objects (" << output.numDetached << ") from robot nodes.";
@@ -901,9 +880,7 @@ namespace armarx::armem::server::obj::instance
armem::obj::SceneSnapshot Segment::getSceneSnapshot() const
{
armem::obj::SceneSnapshot scene;
-
- wm::FunctionalVisitor visitor;
- visitor.entityFn = [&scene](wm::Entity & entity)
+ coreSegment->forEachEntity([&scene](wm::Entity & entity)
{
try
{
@@ -923,10 +900,8 @@ namespace armarx::armem::server::obj::instance
{
ARMARX_WARNING_S << e.what();
}
- return false;
- };
+ });
- visitor.applyTo(*coreSegment);
return scene;
}
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.h b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.h
index 918a4efad..f6ba67189 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.h
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.h
@@ -19,7 +19,7 @@
#include <RobotAPI/libraries/ArmarXObjects/ObjectPose.h>
#include <RobotAPI/libraries/ArmarXObjects/ObjectFinder.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/Memory.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
#include <RobotAPI/libraries/armem/server/segment/SpecializedSegment.h>
#include "ArticulatedObjectVisu.h"
diff --git a/source/RobotAPI/libraries/armem_robot/robot_conversions.cpp b/source/RobotAPI/libraries/armem_robot/robot_conversions.cpp
index 3bf417148..6ba61bba4 100644
--- a/source/RobotAPI/libraries/armem_robot/robot_conversions.cpp
+++ b/source/RobotAPI/libraries/armem_robot/robot_conversions.cpp
@@ -4,7 +4,7 @@
#include <RobotAPI/libraries/aron/common/aron_conversions.h>
-#include "RobotAPI/libraries/armem/core/workingmemory/EntityInstance.h"
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
#include <RobotAPI/libraries/armem/core/aron_conversions.h>
#include <RobotAPI/libraries/armem_robot/aron/RobotDescription.aron.generated.h>
diff --git a/source/RobotAPI/libraries/armem_robot_state/client/common/RobotReader.cpp b/source/RobotAPI/libraries/armem_robot_state/client/common/RobotReader.cpp
index 7a500d139..85370141f 100644
--- a/source/RobotAPI/libraries/armem_robot_state/client/common/RobotReader.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/client/common/RobotReader.cpp
@@ -10,7 +10,7 @@
#include <RobotAPI/libraries/armem/client/query/Builder.h>
#include <RobotAPI/libraries/armem/core/error.h>
#include <RobotAPI/libraries/armem/core/Time.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/CoreSegment.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
#include <RobotAPI/libraries/armem_robot/aron_conversions.h>
#include <RobotAPI/libraries/armem_robot/robot_conversions.h>
#include <RobotAPI/libraries/armem_robot/aron/Robot.aron.generated.h>
@@ -214,30 +214,31 @@ namespace armarx::armem::robot_state
const armem::wm::ProviderSegment& providerSegment = memory
.getCoreSegment(properties.proprioceptionCoreSegment)
.getProviderSegment(name);
- // clang-format on
- const auto entities = simox::alg::get_values(providerSegment.entities());
// TODO entitiesToRobotState()
- if (entities.empty())
+ if (providerSegment.empty())
{
ARMARX_WARNING << "No entity found";
return std::nullopt;
}
- const auto entitySnapshots = simox::alg::get_values(entities.front().history());
+ // clang-format on
- if (entitySnapshots.empty())
+ const armem::wm::EntityInstance* instance = nullptr;
+ providerSegment.forEachInstance([&instance](const wm::EntityInstance & i)
+ {
+ instance = &i;
+ return false; // break
+ });
+ if (!instance)
{
ARMARX_WARNING << "No entity snapshots found";
return std::nullopt;
}
- // TODO(fabian.reister): check if 0 available
- const armem::wm::EntityInstance& instance = entitySnapshots.front().getInstance(0);
-
// Here, we access the RobotUnit streaming data stored in the proprioception segment.
- return robot::convertRobotState(instance);
+ return robot::convertRobotState(*instance);
}
// FIXME remove this, use armem/util/util.h
@@ -271,24 +272,19 @@ namespace armarx::armem::robot_state
.getCoreSegment(properties.proprioceptionCoreSegment);
// clang-format on
- for (const auto &[_, providerSegment] : coreSegment.providerSegments())
+ coreSegment.forEachEntity([&jointMap](const wm::Entity & entity)
{
+ const auto& entityInstance = entity.getLatestSnapshot().getInstance(0);
- for (const auto &[name, entity] : providerSegment.entities())
+ const auto jointState = tryCast<::armarx::armem::arondto::JointState>(entityInstance);
+ if (not jointState)
{
- const auto& entityInstance = entity.getLatestSnapshot().getInstance(0);
-
- const auto jointState = tryCast<::armarx::armem::arondto::JointState>(entityInstance);
-
- if (not jointState)
- {
- // ARMARX_WARNING << "Could not convert entity instance to 'JointState'";
- continue;
- }
-
- jointMap.emplace(jointState->name, jointState->position);
+ // ARMARX_WARNING << "Could not convert entity instance to 'JointState'";
+ return;
}
- }
+
+ jointMap.emplace(jointState->name, jointState->position);
+ });
if (jointMap.empty())
{
@@ -307,26 +303,19 @@ namespace armarx::armem::robot_state
.getCoreSegment(properties.descriptionCoreSegment)
.getProviderSegment(name); // TODO(fabian.reister): all
// clang-format on
- const auto entities = simox::alg::get_values(providerSegment.entities());
- if (entities.empty())
+ const armem::wm::EntityInstance* instance = nullptr;
+ providerSegment.forEachInstance([&instance](const wm::EntityInstance & i)
{
- ARMARX_WARNING << "No entity found";
- return std::nullopt;
- }
-
- const auto entitySnapshots = simox::alg::get_values(entities.front().history());
-
- if (entitySnapshots.empty())
+ instance = &i;
+ });
+ if (!instance)
{
ARMARX_WARNING << "No entity snapshots found";
return std::nullopt;
}
- // TODO(fabian.reister): check if 0 available
- const armem::wm::EntityInstance& instance = entitySnapshots.front().getInstance(0);
-
- return robot::convertRobotDescription(instance);
+ return robot::convertRobotDescription(*instance);
}
} // namespace armarx::armem::robot_state
diff --git a/source/RobotAPI/libraries/armem_robot_state/client/localization/TransformReader.cpp b/source/RobotAPI/libraries/armem_robot_state/client/localization/TransformReader.cpp
index 6aa026431..32da2d645 100644
--- a/source/RobotAPI/libraries/armem_robot_state/client/localization/TransformReader.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/client/localization/TransformReader.cpp
@@ -48,9 +48,9 @@
#include <RobotAPI/libraries/armem/client/query/Builder.h>
#include <RobotAPI/libraries/armem/client/query/query_fns.h>
#include <RobotAPI/libraries/armem/core/error.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/Memory.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/ProviderSegment.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/ice_conversions.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
+#include <RobotAPI/libraries/armem/core/wm/ice_conversions.h>
#include <RobotAPI/libraries/armem/server/MemoryRemoteGui.h>
#include <RobotAPI/libraries/aron/core/navigator/type/NavigatorFactory.h>
#include <RobotAPI/libraries/core/FramedPose.h>
diff --git a/source/RobotAPI/libraries/armem_robot_state/client/localization/TransformWriter.cpp b/source/RobotAPI/libraries/armem_robot_state/client/localization/TransformWriter.cpp
index 4230394aa..608dfa394 100644
--- a/source/RobotAPI/libraries/armem_robot_state/client/localization/TransformWriter.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/client/localization/TransformWriter.cpp
@@ -37,9 +37,9 @@
#include <RobotAPI/libraries/armem/client/query/Builder.h>
#include <RobotAPI/libraries/armem/client/query/query_fns.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/ice_conversions.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/Memory.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/ProviderSegment.h>
+#include <RobotAPI/libraries/armem/core/wm/ice_conversions.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
#include <RobotAPI/libraries/armem/server/MemoryRemoteGui.h>
#include <RobotAPI/libraries/aron/core/navigator/type/NavigatorFactory.h>
#include <RobotAPI/libraries/core/FramedPose.h>
diff --git a/source/RobotAPI/libraries/armem_robot_state/common/localization/TransformHelper.cpp b/source/RobotAPI/libraries/armem_robot_state/common/localization/TransformHelper.cpp
index c4d0e05b4..7990703b1 100644
--- a/source/RobotAPI/libraries/armem_robot_state/common/localization/TransformHelper.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/common/localization/TransformHelper.cpp
@@ -5,18 +5,18 @@
#include <SimoxUtility/color/cmaps.h>
#include <SimoxUtility/math/pose/interpolate.h>
-#include "ArmarXCore/core/exceptions/LocalException.h"
-#include "RobotAPI/libraries/core/FramedPose.h"
+#include <ArmarXCore/core/exceptions/LocalException.h>
+#include <RobotAPI/libraries/core/FramedPose.h>
-#include "RobotAPI/libraries/aron/common/aron_conversions.h"
+#include <RobotAPI/libraries/aron/common/aron_conversions.h>
-#include "RobotAPI/libraries/armem/core/error/ArMemError.h"
-#include "RobotAPI/libraries/armem/core/workingmemory/EntityInstance.h"
-#include "RobotAPI/libraries/armem/core/workingmemory/Memory.h"
+#include <RobotAPI/libraries/armem/core/error/ArMemError.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
#include <RobotAPI/libraries/armem_robot_state/aron/Transform.aron.generated.h>
#include <RobotAPI/libraries/armem_robot_state/aron_conversions.h>
+
namespace armarx::armem::common::robot_state::localization
{
diff --git a/source/RobotAPI/libraries/armem_robot_state/common/localization/TransformHelper.h b/source/RobotAPI/libraries/armem_robot_state/common/localization/TransformHelper.h
index cafbedcbc..0f1f20de8 100644
--- a/source/RobotAPI/libraries/armem_robot_state/common/localization/TransformHelper.h
+++ b/source/RobotAPI/libraries/armem_robot_state/common/localization/TransformHelper.h
@@ -28,6 +28,7 @@
#include <RobotAPI/libraries/armem_robot_state/common/localization/types.h>
+
namespace armarx::armem::wm
{
class CoreSegment;
@@ -66,4 +67,4 @@ namespace armarx::armem::common::robot_state::localization
const armem::wm::ProviderSegment& agentProviderSegment,
const armem::Time& timestamp);
};
-} // namespace armarx::armem::common::robot_state::localization
\ No newline at end of file
+} // namespace armarx::armem::common::robot_state::localization
diff --git a/source/RobotAPI/libraries/armem_robot_state/server/description/Segment.cpp b/source/RobotAPI/libraries/armem_robot_state/server/description/Segment.cpp
index fc4eef76e..e4e9dc4f7 100644
--- a/source/RobotAPI/libraries/armem_robot_state/server/description/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/server/description/Segment.cpp
@@ -19,7 +19,6 @@
#include <RobotAPI/libraries/armem/client/query/Builder.h>
#include <RobotAPI/libraries/armem/client/query/query_fns.h>
#include <RobotAPI/libraries/armem/core/aron_conversions.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/visitor.h>
#include <RobotAPI/libraries/armem/server/MemoryToIceAdapter.h>
#include <RobotAPI/libraries/armem_robot/aron/Robot.aron.generated.h>
diff --git a/source/RobotAPI/libraries/armem_robot_state/server/localization/Segment.cpp b/source/RobotAPI/libraries/armem_robot_state/server/localization/Segment.cpp
index 604795dd4..118123c6b 100644
--- a/source/RobotAPI/libraries/armem_robot_state/server/localization/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/server/localization/Segment.cpp
@@ -26,7 +26,6 @@
#include <RobotAPI/libraries/armem/core/MemoryID.h>
#include <RobotAPI/libraries/armem/core/Time.h>
#include <RobotAPI/libraries/armem/core/aron_conversions.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/visitor.h>
#include <RobotAPI/libraries/armem/server/MemoryToIceAdapter.h>
#include <RobotAPI/libraries/armem_robot/aron/Robot.aron.generated.h>
diff --git a/source/RobotAPI/libraries/armem_robot_state/server/proprioception/Segment.cpp b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/Segment.cpp
index e94fc83e2..d08ae0866 100644
--- a/source/RobotAPI/libraries/armem_robot_state/server/proprioception/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/Segment.cpp
@@ -11,7 +11,6 @@
#include <RobotAPI/libraries/armem_robot_state/types.h>
#include <RobotAPI/libraries/armem/core/aron_conversions.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/visitor.h>
#include <RobotAPI/libraries/armem/core/MemoryID.h>
#include <RobotAPI/libraries/armem/client/Writer.h>
#include <RobotAPI/libraries/armem/client/query/Builder.h>
diff --git a/source/RobotAPI/libraries/armem_vision/client/laser_scans/Reader.cpp b/source/RobotAPI/libraries/armem_vision/client/laser_scans/Reader.cpp
index 61eeb6fff..4bc22306d 100644
--- a/source/RobotAPI/libraries/armem_vision/client/laser_scans/Reader.cpp
+++ b/source/RobotAPI/libraries/armem_vision/client/laser_scans/Reader.cpp
@@ -33,22 +33,20 @@
#include <RobotAPI/libraries/aron/core/navigator/data/complex/NDArray.h>
// RobotAPI Armem
+#include <RobotAPI/libraries/armem/core/error.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
+#include <RobotAPI/libraries/armem/util/util.h>
+
#include <RobotAPI/libraries/armem/client/Query.h>
#include <RobotAPI/libraries/armem/client/Reader.h>
#include <RobotAPI/libraries/armem/client/query/Builder.h>
#include <RobotAPI/libraries/armem/client/query/selectors.h>
-#include <RobotAPI/libraries/armem/core/error.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/Memory.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/CoreSegment.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/ProviderSegment.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/Entity.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/EntityInstance.h>
-#include <RobotAPI/libraries/armem/util/util.h>
#include <RobotAPI/libraries/armem_vision/aron/LaserScan.aron.generated.h>
#include <RobotAPI/libraries/armem_vision/aron_conversions.h>
#include <RobotAPI/libraries/armem_vision/types.h>
+
namespace armarx::armem::vision::laser_scans::client
{
diff --git a/source/RobotAPI/libraries/armem_vision/client/laser_scans/Writer.cpp b/source/RobotAPI/libraries/armem_vision/client/laser_scans/Writer.cpp
index 7358e504f..861e02c4c 100644
--- a/source/RobotAPI/libraries/armem_vision/client/laser_scans/Writer.cpp
+++ b/source/RobotAPI/libraries/armem_vision/client/laser_scans/Writer.cpp
@@ -1,7 +1,7 @@
#include "Writer.h"
#include <RobotAPI/libraries/armem/core/error.h>
-#include "RobotAPI/libraries/armem_vision/aron_conversions.h"
+#include <RobotAPI/libraries/armem_vision/aron_conversions.h>
#include <RobotAPI/libraries/armem_vision/aron/LaserScan.aron.generated.h>
diff --git a/source/RobotAPI/libraries/armem_vision/client/occupancy_grid/Reader.cpp b/source/RobotAPI/libraries/armem_vision/client/occupancy_grid/Reader.cpp
index ba7edf547..717a2ec98 100644
--- a/source/RobotAPI/libraries/armem_vision/client/occupancy_grid/Reader.cpp
+++ b/source/RobotAPI/libraries/armem_vision/client/occupancy_grid/Reader.cpp
@@ -19,13 +19,13 @@
#include <SimoxUtility/algorithm/get_map_keys_values.h>
// ArmarXCore
-#include "ArmarXCore/core/exceptions/LocalException.h"
+#include <ArmarXCore/core/exceptions/LocalException.h>
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
#include <ArmarXCore/core/logging/LogSender.h>
#include <ArmarXCore/core/logging/Logging.h>
// RobotAPI Interfaces
-#include "RobotAPI/libraries/aron/converter/eigen/EigenConverter.h"
+#include <RobotAPI/libraries/aron/converter/eigen/EigenConverter.h>
#include <RobotAPI/interface/armem/mns/MemoryNameSystemInterface.h>
#include <RobotAPI/interface/armem/server/ReadingMemoryInterface.h>
#include <RobotAPI/interface/units/LaserScannerUnit.h>
@@ -40,11 +40,7 @@
#include <RobotAPI/libraries/armem/client/Reader.h>
#include <RobotAPI/libraries/armem/client/query/Builder.h>
#include <RobotAPI/libraries/armem/client/query/selectors.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/CoreSegment.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/Entity.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/EntityInstance.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/Memory.h>
-#include <RobotAPI/libraries/armem/core/workingmemory/ProviderSegment.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
#include <RobotAPI/libraries/armem/util/util.h>
#include <RobotAPI/libraries/armem_vision/aron/LaserScan.aron.generated.h>
#include <RobotAPI/libraries/armem_vision/aron_conversions.h>
@@ -68,20 +64,23 @@ namespace armarx::armem::vision::occupancy_grid::client
return qb;
}
- OccupancyGrid asOccupancyGrid(const std::map<std::string, wm::Entity>& entities)
+ OccupancyGrid asOccupancyGrid(const wm::ProviderSegment& providerSegment)
{
- ARMARX_CHECK(not entities.empty()) << "No entities";
- ARMARX_CHECK(entities.size() == 1) << "There should be only one entity!";
+ ARMARX_CHECK(not providerSegment.empty()) << "No entities";
+ ARMARX_CHECK(providerSegment.size() == 1) << "There should be only one entity!";
- const wm::Entity& entity = entities.begin()->second;
- ARMARX_CHECK(not entity.empty()) << "No snapshots";
-
- const auto& entitySnapshot = entity.getLatestSnapshot();
- ARMARX_CHECK(not entitySnapshot.empty()) << "No entity snapshot instances";
+ const wm::EntityInstance* entityInstance = nullptr;
+ providerSegment.forEachEntity([&entityInstance](const wm::Entity & entity)
+ {
+ const auto& entitySnapshot = entity.getLatestSnapshot();
+ ARMARX_CHECK(not entitySnapshot.empty()) << "No entity snapshot instances";
- const auto& entityInstance = entitySnapshot.instances().front();
+ entityInstance = &entitySnapshot.getInstance(0);
+ return false;
+ });
+ ARMARX_CHECK_NOT_NULL(entityInstance);
- const auto aronDto = tryCast<arondto::OccupancyGrid>(entityInstance);
+ const auto aronDto = tryCast<arondto::OccupancyGrid>(*entityInstance);
ARMARX_CHECK(aronDto) << "Failed casting to OccupancyGrid";
OccupancyGrid occupancyGrid;
@@ -89,7 +88,7 @@ namespace armarx::armem::vision::occupancy_grid::client
// direct access to grid data
const auto ndArrayNavigator = aron::datanavigator::NDArrayNavigator::DynamicCast(
- entityInstance.data()->getElement("grid"));
+ entityInstance->data()->getElement("grid"));
ARMARX_CHECK_NOT_NULL(ndArrayNavigator);
occupancyGrid.grid = aron::converter::AronEigenConverter::ConvertToArray<float>(*ndArrayNavigator);
@@ -118,11 +117,10 @@ namespace armarx::armem::vision::occupancy_grid::client
}
// now create result from memory
- const auto& entities = qResult.memory.getCoreSegment(properties().memoryName)
- .getProviderSegment(query.providerName)
- .entities();
+ const wm::ProviderSegment& providerSegment = qResult.memory.getCoreSegment(properties().memoryName)
+ .getProviderSegment(query.providerName);
- if (entities.empty())
+ if (providerSegment.empty())
{
ARMARX_WARNING << "No entities.";
return {.occupancyGrid = std::nullopt,
@@ -132,7 +130,7 @@ namespace armarx::armem::vision::occupancy_grid::client
try
{
- const auto occupancyGrid = asOccupancyGrid(entities);
+ const auto occupancyGrid = asOccupancyGrid(providerSegment);
return Result{.occupancyGrid = occupancyGrid,
.status = Result::Status::Success};
}
diff --git a/source/RobotAPI/libraries/armem_vision/client/occupancy_grid/Reader.h b/source/RobotAPI/libraries/armem_vision/client/occupancy_grid/Reader.h
index a43c2c7c1..eaf9b2fdf 100644
--- a/source/RobotAPI/libraries/armem_vision/client/occupancy_grid/Reader.h
+++ b/source/RobotAPI/libraries/armem_vision/client/occupancy_grid/Reader.h
@@ -23,9 +23,9 @@
#include <mutex>
-#include "RobotAPI/libraries/armem/client/util/SimpleReaderBase.h"
-#include "RobotAPI/libraries/armem/core/Time.h"
-#include "RobotAPI/libraries/armem_vision/types.h"
+#include <RobotAPI/libraries/armem/client/util/SimpleReaderBase.h>
+#include <RobotAPI/libraries/armem/core/Time.h>
+#include <RobotAPI/libraries/armem_vision/types.h>
#include <RobotAPI/libraries/armem/client/query/Builder.h>
namespace armarx::armem::vision::occupancy_grid::client
diff --git a/source/RobotAPI/libraries/armem_vision/client/occupancy_grid/Writer.cpp b/source/RobotAPI/libraries/armem_vision/client/occupancy_grid/Writer.cpp
index f2930f14f..ce5883afb 100644
--- a/source/RobotAPI/libraries/armem_vision/client/occupancy_grid/Writer.cpp
+++ b/source/RobotAPI/libraries/armem_vision/client/occupancy_grid/Writer.cpp
@@ -1,8 +1,9 @@
#include "Writer.h"
-#include "RobotAPI/libraries/armem_vision/aron_conversions.h"
+#include <RobotAPI/libraries/armem_vision/aron_conversions.h>
#include <RobotAPI/libraries/armem_vision/aron/OccupancyGrid.aron.generated.h>
+
namespace armarx::armem::vision::occupancy_grid::client
{
Writer::~Writer() = default;
@@ -67,4 +68,4 @@ namespace armarx::armem::vision::occupancy_grid::client
return SimpleWriterBase::Properties{.memoryName = "Vision",
.coreSegmentName = "OccupancyGrid"};
}
-} // namespace armarx::armem::vision::occupancy_grid::client
\ No newline at end of file
+} // namespace armarx::armem::vision::occupancy_grid::client
diff --git a/source/RobotAPI/libraries/armem_vision/client/occupancy_grid/Writer.h b/source/RobotAPI/libraries/armem_vision/client/occupancy_grid/Writer.h
index bf1268444..b2a900321 100644
--- a/source/RobotAPI/libraries/armem_vision/client/occupancy_grid/Writer.h
+++ b/source/RobotAPI/libraries/armem_vision/client/occupancy_grid/Writer.h
@@ -24,8 +24,8 @@
#include <mutex>
-#include "RobotAPI/libraries/armem/client/util/SimpleWriterBase.h"
-#include "RobotAPI/libraries/armem_vision/types.h"
+#include <RobotAPI/libraries/armem/client/util/SimpleWriterBase.h>
+#include <RobotAPI/libraries/armem_vision/types.h>
namespace armarx::armem::vision::occupancy_grid::client
{
--
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